I'm about the same way samy~ when I become a counselor, I don't want to be paid by whoever sees me. I'd rather help them in a sincere way. It's not that you're wanting to help people to feel good, it's a part of who we are.
You may have joy when you make someone else have joy. or feel sad when they're sad.
ummm I can't get too detailed right now since I'm going to sleep soooo~~~ the best thing I could say is to not fear being hurt/afraid of trying to help people. While there are times it's best to do nothing, you shouldn't keep yourself from doing what you're made to do/become :3
anywaysss goodnight~